Camera thread - captures RGB images from RealSense.

Handle commands from GUI in separate thread.

r"""Compute posture task error. The posture task error is defined as: .. math:: e(q) = q^* \ominus q See :func

r"""Compute the posture task Jacobian. The task Jacobian is the identity :math:`I_{n_v} \in \mathbb{R}^{n_v \times n_v}`, with :math:

Main robot control loop running at robot_rate Hz. This should be run in a separate thread. Only sends commands when robot is in ENABL

Emergency stop - immediately halt all motion.

Format movement flags as a readable string.

Get 1€ Filter parameters from GUI. Returns: Tuple of (min_cutoff, beta, d_cutoff) Raises: ValueError: If con

Get current end effector pose. Returns: 4x4 transform matrix.

Get execution mode from GUI. Returns: Execution mode string ("targeting_time" or "targeting_pose") Raises: V

Get execution ratio (thread-safe).

Get ghost robot visibility. Returns: Whether the ghost robot is visible

Get locked prediction horizon (legacy method name, calls get_locked_prediction_horizon).

Get policy RGB image (thread-safe).

Get policy state input (thread-safe).

Get robot information.

Get robot rate from GUI. Returns: Robot rate in Hz Raises: ValueError: If policy controls not initialized

Get target gripper open value (thread-safe). Returns: Target gripper open value or None if not available

IK solver thread - solves IK and updates state.

Joint state thread - reads joint state and sends commands.

Log data to queue on change callback.

Handle Button A press to toggle robot enable/disable state.

Handle Button A press to toggle robot enable/disable state.

Handle Button B press to move robot to home position.

Handle Button B press to move robot to home position.

Handle Button Right Joystick press to toggle data recording state.

Handle Button B press to move robot to home position.

Policy execution thread.

Quest reader thread - reads controller data and manages teleop state. This thread runs at high frequency to ensure responsive controller input.

Reset robot to neutral configuration.

Set callback for Disable Robot button. Args: callback: Callback function to call when button is clicked

Set callback for Emergency Stop button. Args: callback: Callback function to call when button is clicked

Set callback for Enable Robot button. Args: callback: Callback function to call when button is clicked

Set joint angles text display. Args: text: Text to display Raises: ValueError: If joint angles control not i

Set target pose from position and orientation. Args: position: 3D position vector orientation: 3x3 rotation matrix or

Toggle robot enabled/disabled state and update GUI button label.

Update filter parameters for all sub-filters without resetting state. Args: min_cutoff: Minimum cutoff frequency beta

Update the robot rate. Args: rate: The new robot rate in Hz